Updated the webgpu stuff to have webgl as fallback

src/app/pages/algorithms/cloth/cloth-glsl.shader.ts

@@ -0,0 +1,48 @@
+/**
+ * GLSL shaders for cloth rendering on WebGL.
+ * Replicates the visual output of the WGSL cloth shaders:
+ * checkerboard pattern with Lambertian lighting.
+ */
+
+export const CLOTH_VERTEX_SHADER_GLSL = `
+    precision highp float;
+
+    attribute vec3 position;
+    attribute vec2 uv;
+
+    uniform mat4 viewProjection;
+
+    varying vec2 vUV;
+    varying vec3 vWorldPos;
+
+    void main() {
+        vUV = uv;
+        vWorldPos = position;
+        gl_Position = viewProjection * vec4(position, 1.0);
+    }
+`;
+
+export const CLOTH_FRAGMENT_SHADER_GLSL = `
+    #extension GL_OES_standard_derivatives : enable
+    precision highp float;
+
+    varying vec2 vUV;
+    varying vec3 vWorldPos;
+
+    void main() {
+        vec3 dx = dFdx(vWorldPos);
+        vec3 dy = dFdy(vWorldPos);
+        vec3 normal = normalize(cross(dx, dy));
+
+        vec3 lightDir = normalize(vec3(1.0, 1.0, 0.5));
+        float diffuse = max(0.0, abs(dot(normal, lightDir)));
+        float ambient = 0.3;
+        float lightIntensity = ambient + (diffuse * 0.7);
+
+        float grid = mod(floor(vUV.x * 20.0) + floor(vUV.y * 20.0), 2.0);
+        vec3 baseColor = mix(vec3(0.8, 0.4, 0.15), vec3(0.9, 0.5, 0.2), grid);
+        vec3 finalColor = baseColor * lightIntensity;
+
+        gl_FragColor = vec4(finalColor, 1.0);
+    }
+`;

src/app/pages/algorithms/cloth/cloth.component.ts

@@ -1,27 +1,17 @@
-/**
+import {Component} from '@angular/core';
- * File: cloth.component.ts
+import {FormsModule} from '@angular/forms';
- * Description: Component for cloth simulation using WebGPU compute shaders.
+import {MatCard, MatCardContent, MatCardHeader, MatCardTitle} from '@angular/material/card';
- */
+import {MatSliderModule} from '@angular/material/slider';
-
+import {TranslatePipe} from '@ngx-translate/core';
-import { Component } from '@angular/core';
+import {BabylonCanvas, RenderConfig, SceneEventData} from '../../../shared/components/render-canvas/babylon-canvas.component';
-import { FormsModule } from '@angular/forms';
-import { MatCard, MatCardContent, MatCardHeader, MatCardTitle } from '@angular/material/card';
-import { MatSliderModule } from '@angular/material/slider';
-import { TranslatePipe } from '@ngx-translate/core';
-import { BabylonCanvas, RenderConfig, SceneEventData } from '../../../shared/components/render-canvas/babylon-canvas.component';
-import {ComputeShader, StorageBuffer, MeshBuilder, ShaderMaterial, ShaderLanguage, ArcRotateCamera, GroundMesh, WebGPUEngine, Scene} from '@babylonjs/core';
-import {
-  CLOTH_FRAGMENT_SHADER_WGSL,
-  CLOTH_INTEGRATE_COMPUTE_WGSL,
-  CLOTH_SOLVE_COMPUTE_WGSL,
-  CLOTH_VELOCITY_COMPUTE_WGSL,
-  CLOTH_VERTEX_SHADER_WGSL
-} from './cloth.shader';
 import {MatButton} from '@angular/material/button';
-import {ClothBuffers, ClothConfig, ClothData, ClothPipelines} from './cloth.model';
+import {ClothConfig} from './cloth.model';
 import {Information} from '../information/information';
 import {AlgorithmInformation} from '../information/information.models';
 import {UrlConstants} from '../../../constants/UrlConstants';
+import {ClothSimulationStrategy} from './strategies/cloth-simulation.strategy';
+import {ClothGpuStrategy} from './strategies/cloth-gpu.strategy';
+import {ClothCpuStrategy} from './strategies/cloth-cpu.strategy';
 
 @Component({
   selector: 'app-cloth',
@@ -43,17 +33,16 @@ import {UrlConstants} from '../../../constants/UrlConstants';
 export class ClothComponent {
   private currentSceneData: SceneEventData | null = null;
   private simulationTime: number = 0;
-  private clothMesh: GroundMesh | null = null;
+  private strategy: ClothSimulationStrategy | null = null;
+
   public isWindActive: boolean = false;
   public isOutlineActive: boolean = false;
   public stiffness: number = 80;
-  // Elongation along the vertical (Y) axis, 0.5 = compressed, 2.0 = stretched
   public elongation: number = 1.0;
 
   public renderConfig: RenderConfig = {
     mode: '3D',
-    initialViewSize: 20,
+    initialViewSize: 20
-    shaderLanguage: ShaderLanguage.WGSL
   };
 
   algoInformation: AlgorithmInformation = {
@@ -89,10 +78,6 @@ export class ClothComponent {
     disclaimerListEntry: ['CLOTH.EXPLANATION.DISCLAIMER_1', 'CLOTH.EXPLANATION.DISCLAIMER_2', 'CLOTH.EXPLANATION.DISCLAIMER_3', 'CLOTH.EXPLANATION.DISCLAIMER_4']
   };
 
-  /**
-   * Called when the Babylon scene is ready.
-   * @param event The scene event data.
-   */
   public onSceneReady(event: SceneEventData): void {
     this.currentSceneData = event;
     this.createSimulation();
@@ -104,10 +89,11 @@ export class ClothComponent {
 
   public toggleMesh(): void {
     this.isOutlineActive = !this.isOutlineActive;
-    if (!this.clothMesh?.material) {
+    const mesh = this.strategy?.getMesh();
+    if (!mesh?.material) {
       return;
     }
-    this.clothMesh.material.wireframe = this.isOutlineActive;
+    mesh.material.wireframe = this.isOutlineActive;
   }
 
   public restartSimulation(): void {
@@ -115,36 +101,43 @@ export class ClothComponent {
     this.createSimulation();
   }
 
-  /**
-   * Initializes and starts the cloth simulation.
-   */
   private createSimulation(): void {
-    if (!this.currentSceneData) return;
+    if (!this.currentSceneData) {
-
+      return;
-    const { engine, scene } = this.currentSceneData;
+    }
-
+
-    // 1. Define physics parameters
+    const {engine, scene, gpuTier} = this.currentSceneData;
-    const config = this.getClothConfig();
+    const config = this.getClothConfig();
-
+
-    // 2. Generate initial CPU data (positions, constraints)
+    if (this.strategy) {
-    const clothData = this.generateClothData(config);
+      this.strategy.dispose();
-
+    }
-    // 3. Upload to GPU
+
-    const buffers = this.createStorageBuffers(engine, clothData);
+    this.strategy = gpuTier === 'webgpu'
-
+      ? new ClothGpuStrategy()
-    // 4. Create Compute Shaders
+      : new ClothCpuStrategy();
-    const pipelines = this.setupComputePipelines(engine, buffers);
+
-
+    this.strategy.init(scene, engine, config);
-    // 5. Setup Rendering (Mesh, Material, Camera)
+    this.startParamUpdateLoop(scene, engine);
-    this.setupRenderMesh(scene, config, buffers.positions);
+  }
-
+
-    // 6. Start the physics loop
+  private startParamUpdateLoop(scene: any, engine: any): void {
-    this.startRenderLoop(engine, scene, config, buffers, pipelines);
+    scene.onAfterRenderObservable.clear();
+    scene.onAfterRenderObservable.add(() => {
+      this.simulationTime += engine.getDeltaTime() / 1000.0;
+
+      if (this.strategy) {
+        this.strategy.updateParams({
+          stiffness: this.stiffness,
+          elongation: this.elongation,
+          isWindActive: this.isWindActive,
+          simulationTime: this.simulationTime,
+          deltaTime: engine.getDeltaTime() / 1000.0
+        });
+      }
+    });
   }
 
-  // ========================================================================
-  // 1. CONFIGURATION
-  // ========================================================================
   private getClothConfig(): ClothConfig {
     const gridWidth = 100;
     const gridHeight = 100;
@@ -162,239 +155,4 @@ export class ClothComponent {
       particleInvMass: 1.0 / particleMass
     };
   }
-
-  // ========================================================================
-  // 2. DATA GENERATION (CPU)
-  // ========================================================================
-  private generateClothData(config: ClothConfig): ClothData {
-    const positionsData = new Float32Array(config.numVertices * 4);
-    const prevPositionsData = new Float32Array(config.numVertices * 4);
-    const velocitiesData = new Float32Array(config.numVertices * 4);
-
-    const constraintsP0: number[] = [];
-    const constraintsP1: number[] = [];
-    const constraintsP2: number[] = [];
-    const constraintsP3: number[] = [];
-
-    // Type 1.0 = horizontal/diagonal (no elongation), Type 2.0 = vertical (elongation applies)
-    const addHorizontalConstraint = (arr: number[], a: number, b: number): void => {
-      arr.push(a, b, config.spacing, 1.0);
-    };
-    const addVerticalConstraint = (arr: number[], a: number, b: number): void => {
-      arr.push(a, b, config.spacing, 2.0);
-    };
-
-    // Fill positions (Pin top row)
-    for (let y = 0; y < config.gridHeight; y++) {
-      for (let x = 0; x < config.gridWidth; x++) {
-        const idx = (y * config.gridWidth + x) * 4;
-        positionsData[idx + 0] = (x - config.gridWidth / 2) * config.spacing;
-        positionsData[idx + 1] = 5.0 - (y * config.spacing);
-        positionsData[idx + 2] = 0.0;
-        positionsData[idx + 3] = (y === 0) ? 0.0 : config.particleInvMass;
-
-        prevPositionsData[idx + 0] = positionsData[idx + 0];
-        prevPositionsData[idx + 1] = positionsData[idx + 1];
-        prevPositionsData[idx + 2] = positionsData[idx + 2];
-        prevPositionsData[idx + 3] = positionsData[idx + 3];
-      }
-    }
-
-    // Graph Coloring (4 Phases)
-    for (let y = 0; y < config.gridHeight; y++) {
-      for (let x = 0; x < config.gridWidth - 1; x += 2) addHorizontalConstraint(constraintsP0, y * config.gridWidth + x, y * config.gridWidth + x + 1);
-      for (let x = 1; x < config.gridWidth - 1; x += 2) addHorizontalConstraint(constraintsP1, y * config.gridWidth + x, y * config.gridWidth + x + 1);
-    }
-    for (let y = 0; y < config.gridHeight - 1; y += 2) {
-      for (let x = 0; x < config.gridWidth; x++) addVerticalConstraint(constraintsP2, y * config.gridWidth + x, (y + 1) * config.gridWidth + x);
-    }
-    for (let y = 1; y < config.gridHeight - 1; y += 2) {
-      for (let x = 0; x < config.gridWidth; x++) addVerticalConstraint(constraintsP3, y * config.gridWidth + x, (y + 1) * config.gridWidth + x);
-    }
-
-    const constraintsP4: number[] = [];
-    const constraintsP5: number[] = [];
-    const constraintsP6: number[] = [];
-    const constraintsP7: number[] = [];
-
-    const diagSpacing = config.spacing * Math.SQRT2;
-    const addDiagConstraint = (arr: number[], a: number, b: number): void => {
-      arr.push(a, b, diagSpacing, 1.0);
-    };
-
-    for (let y = 0; y < config.gridHeight - 1; y++) {
-      const arr = (y % 2 === 0) ? constraintsP4 : constraintsP5;
-      for (let x = 0; x < config.gridWidth - 1; x++) {
-        addDiagConstraint(arr, y * config.gridWidth + x, (y + 1) * config.gridWidth + (x + 1));
-      }
-    }
-
-    for (let y = 0; y < config.gridHeight - 1; y++) {
-      const arr = (y % 2 === 0) ? constraintsP6 : constraintsP7;
-      for (let x = 0; x < config.gridWidth - 1; x++) {
-        addDiagConstraint(arr, y * config.gridWidth + (x + 1), (y + 1) * config.gridWidth + x);
-      }
-    }
-
-    return {
-      positions: positionsData,
-      prevPositions: prevPositionsData,
-      velocities: velocitiesData,
-      constraints: [
-        constraintsP0, constraintsP1, constraintsP2, constraintsP3,
-        constraintsP4, constraintsP5, constraintsP6, constraintsP7
-      ],
-      params: new Float32Array(9)
-    };
-  }
-
-  // ========================================================================
-  // 3. BUFFER CREATION (GPU)
-  // ========================================================================
-  private createStorageBuffers(engine: WebGPUEngine, data: ClothData): ClothBuffers {
-    const createBuffer = (arrayData: Float32Array | number[]): StorageBuffer => {
-      const buffer = new StorageBuffer(engine, arrayData.length * 4);
-      buffer.update(arrayData instanceof Float32Array ? arrayData : new Float32Array(arrayData));
-      return buffer;
-    };
-
-    return {
-      positions: createBuffer(data.positions),
-      prevPositions: createBuffer(data.prevPositions),
-      velocities: createBuffer(data.velocities),
-      params: createBuffer(data.params),
-      constraints: data.constraints.map(cData => createBuffer(cData))
-    };
-  }
-
-  // ========================================================================
-  // 4. COMPUTE SHADERS
-  // ========================================================================
-  private setupComputePipelines(engine: WebGPUEngine, buffers: ClothBuffers): ClothPipelines {
-
-    // Helper for integrating & velocity
-    const createBasicShader = (name: string, source: string) => {
-      const cs = new ComputeShader(name, engine, { computeSource: source }, {
-        bindingsMapping: {
-          "p": { group: 0, binding: 0 },
-          "positions": { group: 0, binding: 1 },
-          "prev_positions": { group: 0, binding: 2 },
-          "velocities": { group: 0, binding: 3 }
-        }
-      });
-      cs.setStorageBuffer("p", buffers.params);
-      cs.setStorageBuffer("positions", buffers.positions);
-      cs.setStorageBuffer("prev_positions", buffers.prevPositions);
-      cs.setStorageBuffer("velocities", buffers.velocities);
-      return cs;
-    };
-
-    // Helper for solvers
-    const createSolverShader = (name: string, constraintBuffer: StorageBuffer) => {
-      const cs = new ComputeShader(name, engine, { computeSource: CLOTH_SOLVE_COMPUTE_WGSL }, {
-        bindingsMapping: {
-          "p": { group: 0, binding: 0 },
-          "positions": { group: 0, binding: 1 },
-          "constraints": { group: 0, binding: 2 }
-        }
-      });
-      cs.setStorageBuffer("p", buffers.params);
-      cs.setStorageBuffer("positions", buffers.positions);
-      cs.setStorageBuffer("constraints", constraintBuffer);
-      return cs;
-    };
-
-    return {
-      integrate: createBasicShader("integrate", CLOTH_INTEGRATE_COMPUTE_WGSL),
-      solvers: buffers.constraints.map((cBuffer, i) => createSolverShader(`solve${i}`, cBuffer)),
-      velocity: createBasicShader("velocity", CLOTH_VELOCITY_COMPUTE_WGSL)
-    };
-  }
-
-  // ========================================================================
-  // 5. RENDERING SETUP
-  // ========================================================================
-  private setupRenderMesh(scene: Scene, config: ClothConfig, positionsBuffer: StorageBuffer): void {
-    if (this.clothMesh) {
-      scene.removeMesh(this.clothMesh);
-    }
-
-    this.clothMesh = MeshBuilder.CreateGround("cloth", { width: 10, height: 10, subdivisions: config.gridWidth - 1 }, scene);
-
-    const clothMaterial = new ShaderMaterial("clothMat", scene, {
-      vertexSource: CLOTH_VERTEX_SHADER_WGSL,
-      fragmentSource: CLOTH_FRAGMENT_SHADER_WGSL
-    }, {
-      attributes: ["position", "uv"],
-      uniforms: ["viewProjection"],
-      storageBuffers: ["positions"],
-      shaderLanguage: ShaderLanguage.WGSL
-    });
-
-    clothMaterial.backFaceCulling = false;
-    clothMaterial.setStorageBuffer("positions", positionsBuffer);
-    this.clothMesh.material = clothMaterial;
-
-    const camera = scene.activeCamera as ArcRotateCamera;
-    if (camera) {
-      camera.alpha = Math.PI / 4;
-      camera.beta = Math.PI / 2.5;
-      camera.radius = 15;
-    }
-  }
-
-  // ========================================================================
-  // 6. RENDER LOOP
-  // ========================================================================
-  private startRenderLoop(engine: WebGPUEngine, scene: Scene, config: ClothConfig, buffers: ClothBuffers, pipelines: ClothPipelines): void {
-    const paramsData = new Float32Array(9);
-
-    // Pre-calculate constraint dispatch sizes for the 4 phases
-    const constraintsLength = buffers.constraints.map(b => (b as any)._buffer.capacity / 4 / 4); // Elements / vec4 length
-    const dispatchXConstraints = constraintsLength.map(len => Math.ceil(len / 64));
-    const dispatchXVertices = Math.ceil(config.numVertices / 64);
-    const substeps = 15;
-
-    scene.onBeforeRenderObservable.clear();
-    scene.onBeforeRenderObservable.add(() => {
-      this.simulationTime += engine.getDeltaTime() / 1000.0;
-
-      // Update Physics Parameters
-      const windX = this.isWindActive ? 5.0 : 0.0;
-      const windY = 0.0;
-      const windZ = this.isWindActive ? 15.0 : 0.0;
-
-      // Logarithmic compliance: stiffness=1 → very soft fabric, stiffness=100 → rigid metal sheet.
-      // alpha = compliance / dt² must be >> wSum (≈800) to be soft, << wSum to be rigid.
-      const softCompliance = 10.0;
-      const rigidCompliance = 0.00001;
-      const t = (this.stiffness - 1) / 99.0;
-      const compliance = softCompliance * Math.pow(rigidCompliance / softCompliance, t);
-
-      paramsData[0] = 0.016; // dt
-      paramsData[1] = -9.81; // gravity
-      paramsData[2] = compliance;
-      paramsData[3] = config.numVertices;
-      paramsData[4] = windX;
-      paramsData[5] = windY;
-      paramsData[6] = windZ;
-      paramsData[7] = this.simulationTime;
-      paramsData[8] = this.elongation;
-
-      buffers.params.update(paramsData);
-
-      // 1. Predict positions
-      pipelines.integrate.dispatch(dispatchXVertices, 1, 1);
-
-      // 2. XPBD Solver (Substeps) - Graph Coloring Phase
-      for (let i = 0; i < substeps; i++) {
-        for (let phase = 0; phase < pipelines.solvers.length; phase++) {
-          pipelines.solvers[phase].dispatch(dispatchXConstraints[phase], 1, 1);
-        }
-      }
-
-      // 3. Update velocities
-      pipelines.velocity.dispatch(dispatchXVertices, 1, 1);
-    });
-  }
 }

src/app/pages/algorithms/cloth/cloth.model.ts

@@ -1,6 +1,3 @@
-// --- SIMULATION CONFIGURATION ---
-import {ComputeShader, StorageBuffer} from '@babylonjs/core';
-
 export interface ClothConfig {
   gridWidth: number;
   gridHeight: number;
@@ -10,27 +7,10 @@ export interface ClothConfig {
   particleInvMass: number;
 }
 
-// --- RAW CPU DATA ---
 export interface ClothData {
   positions: Float32Array;
   prevPositions: Float32Array;
   velocities: Float32Array;
-  constraints: number[][]; // Array containing the 4 phases
+  constraints: number[][];
   params: Float32Array;
 }
-
-// --- WEBGPU BUFFERS ---
-export interface ClothBuffers {
-  positions: StorageBuffer;
-  prevPositions: StorageBuffer;
-  velocities: StorageBuffer;
-  params: StorageBuffer;
-  constraints: StorageBuffer[]; // 4 phase buffers
-}
-
-// --- COMPUTE PIPELINES ---
-export interface ClothPipelines {
-  integrate: ComputeShader;
-  solvers: ComputeShader[]; // 4 solve shaders
-  velocity: ComputeShader;
-}

src/app/pages/algorithms/cloth/strategies/cloth-cpu-physics.ts

@@ -0,0 +1,149 @@
+/**
+ * CPU-side cloth physics mirroring the WGSL compute shaders.
+ * All data uses the same Float32Array vec4 layout: [x, y, z, invMass] per vertex.
+ */
+
+export interface ClothPhysicsParams {
+  dt: number;
+  gravityY: number;
+  compliance: number;
+  numVertices: number;
+  windX: number;
+  windY: number;
+  windZ: number;
+  time: number;
+  elongation: number;
+}
+
+/**
+ * Mirrors CLOTH_INTEGRATE_COMPUTE_WGSL:
+ * Applies gravity and wind forces, predicts new positions.
+ */
+export function integratePositions(
+  positions: Float32Array,
+  prevPositions: Float32Array,
+  velocities: Float32Array,
+  params: ClothPhysicsParams
+): void {
+  for (let idx = 0; idx < params.numVertices; idx++) {
+    const base = idx * 4;
+    const invMass = positions[base + 3];
+
+    if (invMass <= 0.0) {
+      continue;
+    }
+
+    velocities[base + 1] += params.gravityY * params.dt;
+
+    const posX = positions[base + 0];
+    const posY = positions[base + 1];
+
+    const flutter = Math.sin(posX * 2.0 + params.time * 5.0) * Math.cos(posY * 2.0 + params.time * 3.0);
+
+    const windForceX = params.windX + (flutter * params.windX * 0.8);
+    const windForceY = params.windY + (flutter * 2.0);
+    const windForceZ = params.windZ + (flutter * params.windZ * 0.8);
+
+    velocities[base + 0] += windForceX * params.dt;
+    velocities[base + 1] += windForceY * params.dt;
+    velocities[base + 2] += windForceZ * params.dt;
+
+    prevPositions[base + 0] = positions[base + 0];
+    prevPositions[base + 1] = positions[base + 1];
+    prevPositions[base + 2] = positions[base + 2];
+    prevPositions[base + 3] = positions[base + 3];
+
+    positions[base + 0] += velocities[base + 0] * params.dt;
+    positions[base + 1] += velocities[base + 1] * params.dt;
+    positions[base + 2] += velocities[base + 2] * params.dt;
+  }
+}
+
+/**
+ * Mirrors CLOTH_SOLVE_COMPUTE_WGSL:
+ * XPBD constraint solving for one phase of constraints.
+ * Each constraint is stored as [idA, idB, restLength, type] (4 floats).
+ */
+export function solveConstraints(
+  positions: Float32Array,
+  constraints: Float32Array,
+  params: ClothPhysicsParams
+): void {
+  const numConstraints = constraints.length / 4;
+
+  for (let idx = 0; idx < numConstraints; idx++) {
+    const cBase = idx * 4;
+    const constraintType = constraints[cBase + 3];
+
+    if (constraintType < 0.5) {
+      continue;
+    }
+
+    const idA = constraints[cBase + 0];
+    const idB = constraints[cBase + 1];
+    const restLength = constraints[cBase + 2] * params.elongation;
+
+    const baseA = idA * 4;
+    const baseB = idB * 4;
+
+    const wA = positions[baseA + 3];
+    const wB = positions[baseB + 3];
+    const wSum = wA + wB;
+
+    if (wSum <= 0.0) {
+      continue;
+    }
+
+    const dirX = positions[baseA + 0] - positions[baseB + 0];
+    const dirY = positions[baseA + 1] - positions[baseB + 1];
+    const dirZ = positions[baseA + 2] - positions[baseB + 2];
+    const dist = Math.sqrt(dirX * dirX + dirY * dirY + dirZ * dirZ);
+
+    if (dist < 0.0001) {
+      continue;
+    }
+
+    const nX = dirX / dist;
+    const nY = dirY / dist;
+    const nZ = dirZ / dist;
+    const c = dist - restLength;
+
+    const alpha = params.compliance / (params.dt * params.dt);
+    const lambda = -c / (wSum + alpha);
+
+    if (wA > 0.0) {
+      positions[baseA + 0] += nX * (lambda * wA);
+      positions[baseA + 1] += nY * (lambda * wA);
+      positions[baseA + 2] += nZ * (lambda * wA);
+    }
+    if (wB > 0.0) {
+      positions[baseB + 0] += nX * (-lambda * wB);
+      positions[baseB + 1] += nY * (-lambda * wB);
+      positions[baseB + 2] += nZ * (-lambda * wB);
+    }
+  }
+}
+
+/**
+ * Mirrors CLOTH_VELOCITY_COMPUTE_WGSL:
+ * Derives velocity from position changes: v = (pos - prevPos) / dt
+ */
+export function updateVelocities(
+  positions: Float32Array,
+  prevPositions: Float32Array,
+  velocities: Float32Array,
+  params: ClothPhysicsParams
+): void {
+  for (let idx = 0; idx < params.numVertices; idx++) {
+    const base = idx * 4;
+    const invMass = positions[base + 3];
+
+    if (invMass <= 0.0) {
+      continue;
+    }
+
+    velocities[base + 0] = (positions[base + 0] - prevPositions[base + 0]) / params.dt;
+    velocities[base + 1] = (positions[base + 1] - prevPositions[base + 1]) / params.dt;
+    velocities[base + 2] = (positions[base + 2] - prevPositions[base + 2]) / params.dt;
+  }
+}

src/app/pages/algorithms/cloth/strategies/cloth-cpu.strategy.ts

@@ -0,0 +1,216 @@
+import {ArcRotateCamera, Engine, GroundMesh, MeshBuilder, Scene, ShaderMaterial, VertexBuffer, WebGPUEngine} from '@babylonjs/core';
+import {ClothConfig, ClothData} from '../cloth.model';
+import {CLOTH_FRAGMENT_SHADER_GLSL, CLOTH_VERTEX_SHADER_GLSL} from '../cloth-glsl.shader';
+import {ClothPhysicsParams, integratePositions, solveConstraints, updateVelocities} from './cloth-cpu-physics';
+import {ClothSimulationParams, ClothSimulationStrategy} from './cloth-simulation.strategy';
+
+export class ClothCpuStrategy implements ClothSimulationStrategy {
+  private clothMesh: GroundMesh | null = null;
+  private scene: Scene | null = null;
+  private config: ClothConfig | null = null;
+
+  private positions!: Float32Array;
+  private prevPositions!: Float32Array;
+  private velocities!: Float32Array;
+  private constraintPhases!: Float32Array[];
+
+  private physicsParams: ClothPhysicsParams = {
+    dt: 0.016,
+    gravityY: -9.81,
+    compliance: 0.00001,
+    numVertices: 0,
+    windX: 0,
+    windY: 0,
+    windZ: 0,
+    time: 0,
+    elongation: 1.0
+  };
+
+  init(scene: Scene, engine: WebGPUEngine | Engine, config: ClothConfig): void {
+    this.scene = scene;
+    this.config = config;
+    this.physicsParams.numVertices = config.numVertices;
+
+    const clothData = this.generateClothData(config);
+    this.positions = clothData.positions;
+    this.prevPositions = clothData.prevPositions;
+    this.velocities = clothData.velocities;
+    this.constraintPhases = clothData.constraints.map(c => new Float32Array(c));
+
+    this.setupRenderMesh(scene, config);
+    this.startRenderLoop(scene, config);
+  }
+
+  updateParams(params: ClothSimulationParams): void {
+    const windX = params.isWindActive ? 5.0 : 0.0;
+    const windZ = params.isWindActive ? 15.0 : 0.0;
+
+    const softCompliance = 10.0;
+    const rigidCompliance = 0.00001;
+    const t = (params.stiffness - 1) / 99.0;
+
+    this.physicsParams.compliance = softCompliance * Math.pow(rigidCompliance / softCompliance, t);
+    this.physicsParams.windX = windX;
+    this.physicsParams.windY = 0.0;
+    this.physicsParams.windZ = windZ;
+    this.physicsParams.time = params.simulationTime;
+    this.physicsParams.elongation = params.elongation;
+  }
+
+  getMesh(): GroundMesh | null {
+    return this.clothMesh;
+  }
+
+  dispose(): void {
+    if (this.scene && this.clothMesh) {
+      this.scene.removeMesh(this.clothMesh);
+    }
+    this.clothMesh = null;
+  }
+
+  private generateClothData(config: ClothConfig): ClothData {
+    const positionsData = new Float32Array(config.numVertices * 4);
+    const prevPositionsData = new Float32Array(config.numVertices * 4);
+    const velocitiesData = new Float32Array(config.numVertices * 4);
+
+    const constraintsP0: number[] = [];
+    const constraintsP1: number[] = [];
+    const constraintsP2: number[] = [];
+    const constraintsP3: number[] = [];
+
+    const addHorizontalConstraint = (arr: number[], a: number, b: number): void => {
+      arr.push(a, b, config.spacing, 1.0);
+    };
+    const addVerticalConstraint = (arr: number[], a: number, b: number): void => {
+      arr.push(a, b, config.spacing, 2.0);
+    };
+
+    for (let y = 0; y < config.gridHeight; y++) {
+      for (let x = 0; x < config.gridWidth; x++) {
+        const idx = (y * config.gridWidth + x) * 4;
+        positionsData[idx + 0] = (x - config.gridWidth / 2) * config.spacing;
+        positionsData[idx + 1] = 5.0 - (y * config.spacing);
+        positionsData[idx + 2] = 0.0;
+        positionsData[idx + 3] = (y === 0) ? 0.0 : config.particleInvMass;
+
+        prevPositionsData[idx + 0] = positionsData[idx + 0];
+        prevPositionsData[idx + 1] = positionsData[idx + 1];
+        prevPositionsData[idx + 2] = positionsData[idx + 2];
+        prevPositionsData[idx + 3] = positionsData[idx + 3];
+      }
+    }
+
+    for (let y = 0; y < config.gridHeight; y++) {
+      for (let x = 0; x < config.gridWidth - 1; x += 2) { addHorizontalConstraint(constraintsP0, y * config.gridWidth + x, y * config.gridWidth + x + 1); }
+      for (let x = 1; x < config.gridWidth - 1; x += 2) { addHorizontalConstraint(constraintsP1, y * config.gridWidth + x, y * config.gridWidth + x + 1); }
+    }
+    for (let y = 0; y < config.gridHeight - 1; y += 2) {
+      for (let x = 0; x < config.gridWidth; x++) { addVerticalConstraint(constraintsP2, y * config.gridWidth + x, (y + 1) * config.gridWidth + x); }
+    }
+    for (let y = 1; y < config.gridHeight - 1; y += 2) {
+      for (let x = 0; x < config.gridWidth; x++) { addVerticalConstraint(constraintsP3, y * config.gridWidth + x, (y + 1) * config.gridWidth + x); }
+    }
+
+    const constraintsP4: number[] = [];
+    const constraintsP5: number[] = [];
+    const constraintsP6: number[] = [];
+    const constraintsP7: number[] = [];
+    const diagSpacing = config.spacing * Math.SQRT2;
+    const addDiagConstraint = (arr: number[], a: number, b: number): void => {
+      arr.push(a, b, diagSpacing, 1.0);
+    };
+
+    for (let y = 0; y < config.gridHeight - 1; y++) {
+      const arr = (y % 2 === 0) ? constraintsP4 : constraintsP5;
+      for (let x = 0; x < config.gridWidth - 1; x++) {
+        addDiagConstraint(arr, y * config.gridWidth + x, (y + 1) * config.gridWidth + (x + 1));
+      }
+    }
+
+    for (let y = 0; y < config.gridHeight - 1; y++) {
+      const arr = (y % 2 === 0) ? constraintsP6 : constraintsP7;
+      for (let x = 0; x < config.gridWidth - 1; x++) {
+        addDiagConstraint(arr, y * config.gridWidth + (x + 1), (y + 1) * config.gridWidth + x);
+      }
+    }
+
+    return {
+      positions: positionsData,
+      prevPositions: prevPositionsData,
+      velocities: velocitiesData,
+      constraints: [
+        constraintsP0, constraintsP1, constraintsP2, constraintsP3,
+        constraintsP4, constraintsP5, constraintsP6, constraintsP7
+      ],
+      params: new Float32Array(9)
+    };
+  }
+
+  private setupRenderMesh(scene: Scene, config: ClothConfig): void {
+    if (this.clothMesh) {
+      scene.removeMesh(this.clothMesh);
+    }
+
+    this.clothMesh = MeshBuilder.CreateGround("cloth", {
+      width: 10,
+      height: 10,
+      subdivisions: config.gridWidth - 1,
+      updatable: true
+    }, scene);
+
+    const clothMaterial = new ShaderMaterial("clothMat", scene, {
+      vertexSource: CLOTH_VERTEX_SHADER_GLSL,
+      fragmentSource: CLOTH_FRAGMENT_SHADER_GLSL
+    }, {
+      attributes: ["position", "uv"],
+      uniforms: ["viewProjection"]
+    });
+
+    clothMaterial.backFaceCulling = false;
+    this.clothMesh.material = clothMaterial;
+
+    const camera = scene.activeCamera as ArcRotateCamera;
+    if (camera) {
+      camera.alpha = Math.PI / 4;
+      camera.beta = Math.PI / 2.5;
+      camera.radius = 15;
+    }
+  }
+
+  /**
+   * Extracts xyz from the vec4 positions array into a vec3 array for mesh vertex update.
+   */
+  private extractPositionsVec3(positions: Float32Array, numVertices: number): Float32Array {
+    const result = new Float32Array(numVertices * 3);
+    for (let i = 0; i < numVertices; i++) {
+      result[i * 3 + 0] = positions[i * 4 + 0];
+      result[i * 3 + 1] = positions[i * 4 + 1];
+      result[i * 3 + 2] = positions[i * 4 + 2];
+    }
+    return result;
+  }
+
+  private startRenderLoop(scene: Scene, config: ClothConfig): void {
+    const substeps = 15;
+
+    scene.onBeforeRenderObservable.clear();
+    scene.onBeforeRenderObservable.add(() => {
+      if (!this.clothMesh) {
+        return;
+      }
+
+      integratePositions(this.positions, this.prevPositions, this.velocities, this.physicsParams);
+
+      for (let i = 0; i < substeps; i++) {
+        for (const phase of this.constraintPhases) {
+          solveConstraints(this.positions, phase, this.physicsParams);
+        }
+      }
+
+      updateVelocities(this.positions, this.prevPositions, this.velocities, this.physicsParams);
+
+      const posVec3 = this.extractPositionsVec3(this.positions, config.numVertices);
+      this.clothMesh.updateVerticesData(VertexBuffer.PositionKind, posVec3);
+    });
+  }
+}

src/app/pages/algorithms/cloth/strategies/cloth-gpu.strategy.ts

@@ -0,0 +1,275 @@
+import {ArcRotateCamera, ComputeShader, Engine, GroundMesh, MeshBuilder, Scene, ShaderLanguage, ShaderMaterial, StorageBuffer, WebGPUEngine} from '@babylonjs/core';
+import {ClothConfig, ClothData} from '../cloth.model';
+import {
+  CLOTH_FRAGMENT_SHADER_WGSL,
+  CLOTH_INTEGRATE_COMPUTE_WGSL,
+  CLOTH_SOLVE_COMPUTE_WGSL,
+  CLOTH_VELOCITY_COMPUTE_WGSL,
+  CLOTH_VERTEX_SHADER_WGSL
+} from '../cloth.shader';
+import {ClothSimulationParams, ClothSimulationStrategy} from './cloth-simulation.strategy';
+
+interface GpuBuffers {
+  positions: StorageBuffer;
+  prevPositions: StorageBuffer;
+  velocities: StorageBuffer;
+  params: StorageBuffer;
+  constraints: StorageBuffer[];
+}
+
+interface GpuPipelines {
+  integrate: ComputeShader;
+  solvers: ComputeShader[];
+  velocity: ComputeShader;
+}
+
+export class ClothGpuStrategy implements ClothSimulationStrategy {
+  private clothMesh: GroundMesh | null = null;
+  private scene: Scene | null = null;
+  private paramsData = new Float32Array(9);
+  private buffers: GpuBuffers | null = null;
+  private pipelines: GpuPipelines | null = null;
+  private dispatchXConstraints: number[] = [];
+  private dispatchXVertices = 0;
+  private numVertices = 0;
+
+  init(scene: Scene, engine: WebGPUEngine | Engine, config: ClothConfig): void {
+    this.scene = scene;
+    this.numVertices = config.numVertices;
+    const gpuEngine = engine as WebGPUEngine;
+
+    const clothData = this.generateClothData(config);
+    this.buffers = this.createStorageBuffers(gpuEngine, clothData);
+    this.pipelines = this.setupComputePipelines(gpuEngine, this.buffers);
+    this.setupRenderMesh(scene, config, this.buffers.positions);
+    this.setupDispatchSizes(config, this.buffers);
+    this.startRenderLoop(scene);
+  }
+
+  updateParams(params: ClothSimulationParams): void {
+    if (!this.buffers) {
+      return;
+    }
+
+    const windX = params.isWindActive ? 5.0 : 0.0;
+    const windZ = params.isWindActive ? 15.0 : 0.0;
+
+    const softCompliance = 10.0;
+    const rigidCompliance = 0.00001;
+    const t = (params.stiffness - 1) / 99.0;
+    const compliance = softCompliance * Math.pow(rigidCompliance / softCompliance, t);
+
+    this.paramsData[0] = 0.016;
+    this.paramsData[1] = -9.81;
+    this.paramsData[2] = compliance;
+    this.paramsData[3] = this.numVertices;
+    this.paramsData[4] = windX;
+    this.paramsData[5] = 0.0;
+    this.paramsData[6] = windZ;
+    this.paramsData[7] = params.simulationTime;
+    this.paramsData[8] = params.elongation;
+  }
+
+  getMesh(): GroundMesh | null {
+    return this.clothMesh;
+  }
+
+  dispose(): void {
+    if (this.scene && this.clothMesh) {
+      this.scene.removeMesh(this.clothMesh);
+    }
+    this.clothMesh = null;
+    this.buffers = null;
+    this.pipelines = null;
+  }
+
+  private generateClothData(config: ClothConfig): ClothData {
+    const positionsData = new Float32Array(config.numVertices * 4);
+    const prevPositionsData = new Float32Array(config.numVertices * 4);
+    const velocitiesData = new Float32Array(config.numVertices * 4);
+
+    const constraintsP0: number[] = [];
+    const constraintsP1: number[] = [];
+    const constraintsP2: number[] = [];
+    const constraintsP3: number[] = [];
+
+    const addHorizontalConstraint = (arr: number[], a: number, b: number): void => {
+      arr.push(a, b, config.spacing, 1.0);
+    };
+    const addVerticalConstraint = (arr: number[], a: number, b: number): void => {
+      arr.push(a, b, config.spacing, 2.0);
+    };
+
+    for (let y = 0; y < config.gridHeight; y++) {
+      for (let x = 0; x < config.gridWidth; x++) {
+        const idx = (y * config.gridWidth + x) * 4;
+        positionsData[idx + 0] = (x - config.gridWidth / 2) * config.spacing;
+        positionsData[idx + 1] = 5.0 - (y * config.spacing);
+        positionsData[idx + 2] = 0.0;
+        positionsData[idx + 3] = (y === 0) ? 0.0 : config.particleInvMass;
+
+        prevPositionsData[idx + 0] = positionsData[idx + 0];
+        prevPositionsData[idx + 1] = positionsData[idx + 1];
+        prevPositionsData[idx + 2] = positionsData[idx + 2];
+        prevPositionsData[idx + 3] = positionsData[idx + 3];
+      }
+    }
+
+    for (let y = 0; y < config.gridHeight; y++) {
+      for (let x = 0; x < config.gridWidth - 1; x += 2) { addHorizontalConstraint(constraintsP0, y * config.gridWidth + x, y * config.gridWidth + x + 1); }
+      for (let x = 1; x < config.gridWidth - 1; x += 2) { addHorizontalConstraint(constraintsP1, y * config.gridWidth + x, y * config.gridWidth + x + 1); }
+    }
+    for (let y = 0; y < config.gridHeight - 1; y += 2) {
+      for (let x = 0; x < config.gridWidth; x++) { addVerticalConstraint(constraintsP2, y * config.gridWidth + x, (y + 1) * config.gridWidth + x); }
+    }
+    for (let y = 1; y < config.gridHeight - 1; y += 2) {
+      for (let x = 0; x < config.gridWidth; x++) { addVerticalConstraint(constraintsP3, y * config.gridWidth + x, (y + 1) * config.gridWidth + x); }
+    }
+
+    const constraintsP4: number[] = [];
+    const constraintsP5: number[] = [];
+    const constraintsP6: number[] = [];
+    const constraintsP7: number[] = [];
+    const diagSpacing = config.spacing * Math.SQRT2;
+    const addDiagConstraint = (arr: number[], a: number, b: number): void => {
+      arr.push(a, b, diagSpacing, 1.0);
+    };
+
+    for (let y = 0; y < config.gridHeight - 1; y++) {
+      const arr = (y % 2 === 0) ? constraintsP4 : constraintsP5;
+      for (let x = 0; x < config.gridWidth - 1; x++) {
+        addDiagConstraint(arr, y * config.gridWidth + x, (y + 1) * config.gridWidth + (x + 1));
+      }
+    }
+
+    for (let y = 0; y < config.gridHeight - 1; y++) {
+      const arr = (y % 2 === 0) ? constraintsP6 : constraintsP7;
+      for (let x = 0; x < config.gridWidth - 1; x++) {
+        addDiagConstraint(arr, y * config.gridWidth + (x + 1), (y + 1) * config.gridWidth + x);
+      }
+    }
+
+    return {
+      positions: positionsData,
+      prevPositions: prevPositionsData,
+      velocities: velocitiesData,
+      constraints: [
+        constraintsP0, constraintsP1, constraintsP2, constraintsP3,
+        constraintsP4, constraintsP5, constraintsP6, constraintsP7
+      ],
+      params: new Float32Array(9)
+    };
+  }
+
+  private createStorageBuffers(engine: WebGPUEngine, data: ClothData): GpuBuffers {
+    const createBuffer = (arrayData: Float32Array | number[]): StorageBuffer => {
+      const buffer = new StorageBuffer(engine, arrayData.length * 4);
+      buffer.update(arrayData instanceof Float32Array ? arrayData : new Float32Array(arrayData));
+      return buffer;
+    };
+
+    return {
+      positions: createBuffer(data.positions),
+      prevPositions: createBuffer(data.prevPositions),
+      velocities: createBuffer(data.velocities),
+      params: createBuffer(data.params),
+      constraints: data.constraints.map(cData => createBuffer(cData))
+    };
+  }
+
+  private setupComputePipelines(engine: WebGPUEngine, buffers: GpuBuffers): GpuPipelines {
+    const createBasicShader = (name: string, source: string) => {
+      const cs = new ComputeShader(name, engine, {computeSource: source}, {
+        bindingsMapping: {
+          "p": {group: 0, binding: 0},
+          "positions": {group: 0, binding: 1},
+          "prev_positions": {group: 0, binding: 2},
+          "velocities": {group: 0, binding: 3}
+        }
+      });
+      cs.setStorageBuffer("p", buffers.params);
+      cs.setStorageBuffer("positions", buffers.positions);
+      cs.setStorageBuffer("prev_positions", buffers.prevPositions);
+      cs.setStorageBuffer("velocities", buffers.velocities);
+      return cs;
+    };
+
+    const createSolverShader = (name: string, constraintBuffer: StorageBuffer) => {
+      const cs = new ComputeShader(name, engine, {computeSource: CLOTH_SOLVE_COMPUTE_WGSL}, {
+        bindingsMapping: {
+          "p": {group: 0, binding: 0},
+          "positions": {group: 0, binding: 1},
+          "constraints": {group: 0, binding: 2}
+        }
+      });
+      cs.setStorageBuffer("p", buffers.params);
+      cs.setStorageBuffer("positions", buffers.positions);
+      cs.setStorageBuffer("constraints", constraintBuffer);
+      return cs;
+    };
+
+    return {
+      integrate: createBasicShader("integrate", CLOTH_INTEGRATE_COMPUTE_WGSL),
+      solvers: buffers.constraints.map((cBuffer, i) => createSolverShader(`solve${i}`, cBuffer)),
+      velocity: createBasicShader("velocity", CLOTH_VELOCITY_COMPUTE_WGSL)
+    };
+  }
+
+  private setupRenderMesh(scene: Scene, config: ClothConfig, positionsBuffer: StorageBuffer): void {
+    if (this.clothMesh) {
+      scene.removeMesh(this.clothMesh);
+    }
+
+    this.clothMesh = MeshBuilder.CreateGround("cloth", {width: 10, height: 10, subdivisions: config.gridWidth - 1}, scene);
+
+    const clothMaterial = new ShaderMaterial("clothMat", scene, {
+      vertexSource: CLOTH_VERTEX_SHADER_WGSL,
+      fragmentSource: CLOTH_FRAGMENT_SHADER_WGSL
+    }, {
+      attributes: ["position", "uv"],
+      uniforms: ["viewProjection"],
+      storageBuffers: ["positions"],
+      shaderLanguage: ShaderLanguage.WGSL
+    });
+
+    clothMaterial.backFaceCulling = false;
+    clothMaterial.setStorageBuffer("positions", positionsBuffer);
+    this.clothMesh.material = clothMaterial;
+
+    const camera = scene.activeCamera as ArcRotateCamera;
+    if (camera) {
+      camera.alpha = Math.PI / 4;
+      camera.beta = Math.PI / 2.5;
+      camera.radius = 15;
+    }
+  }
+
+  private setupDispatchSizes(config: ClothConfig, buffers: GpuBuffers): void {
+    const constraintsLength = buffers.constraints.map(b => (b as any)._buffer.capacity / 4 / 4);
+    this.dispatchXConstraints = constraintsLength.map(len => Math.ceil(len / 64));
+    this.dispatchXVertices = Math.ceil(config.numVertices / 64);
+  }
+
+  private startRenderLoop(scene: Scene): void {
+    const substeps = 15;
+
+    scene.onBeforeRenderObservable.clear();
+    scene.onBeforeRenderObservable.add(() => {
+      if (!this.buffers || !this.pipelines) {
+        return;
+      }
+
+      this.buffers.params.update(this.paramsData);
+
+      this.pipelines.integrate.dispatch(this.dispatchXVertices, 1, 1);
+
+      for (let i = 0; i < substeps; i++) {
+        for (let phase = 0; phase < this.pipelines.solvers.length; phase++) {
+          this.pipelines.solvers[phase].dispatch(this.dispatchXConstraints[phase], 1, 1);
+        }
+      }
+
+      this.pipelines.velocity.dispatch(this.dispatchXVertices, 1, 1);
+    });
+  }
+}

src/app/pages/algorithms/cloth/strategies/cloth-simulation.strategy.ts

@@ -0,0 +1,17 @@
+import {Engine, GroundMesh, Scene, WebGPUEngine} from '@babylonjs/core';
+import {ClothConfig} from '../cloth.model';
+
+export interface ClothSimulationParams {
+  stiffness: number;
+  elongation: number;
+  isWindActive: boolean;
+  simulationTime: number;
+  deltaTime: number;
+}
+
+export interface ClothSimulationStrategy {
+  init(scene: Scene, engine: WebGPUEngine | Engine, config: ClothConfig): void;
+  updateParams(params: ClothSimulationParams): void;
+  getMesh(): GroundMesh | null;
+  dispose(): void;
+}

src/app/pages/algorithms/pendulum/pendulum-glsl.shader.ts

@@ -0,0 +1,134 @@
+/**
+ * GLSL shaders for pendulum rendering on WebGL.
+ * Replicates the visual output of the WGSL pendulum compute+fragment shaders.
+ * Uses a feedback texture (ping-pong) for trail persistence.
+ *
+ * Coordinate note: WGSL pixel buffer has Y=0 at top (screen space).
+ * GLSL UVs have Y=0 at bottom. We flip Y via (1.0 - uv.y) to match.
+ */
+
+export const PENDULUM_VERTEX_SHADER_GLSL = `
+    precision highp float;
+
+    attribute vec3 position;
+    attribute vec2 uv;
+
+    varying vec2 vUV;
+
+    void main() {
+        vUV = uv;
+        gl_Position = vec4(position, 1.0);
+    }
+`;
+
+/**
+ * Shader for the feedback pass: renders pendulum state to a render target texture.
+ * The R channel stores trail1 intensity, G stores trail2 intensity.
+ */
+export const PENDULUM_FEEDBACK_FRAGMENT_GLSL = `
+    precision highp float;
+
+    uniform vec2 resolution;
+    uniform float theta1;
+    uniform float theta2;
+    uniform float l1;
+    uniform float l2;
+    uniform float trailDecay;
+    uniform sampler2D previousFrame;
+
+    varying vec2 vUV;
+
+    void main() {
+        // Flip Y to match WGSL screen-space (Y=0 at top)
+        vec2 uv = vec2(vUV.x, 1.0 - vUV.y);
+        float aspect = resolution.x / resolution.y;
+        vec2 uvCorrected = vec2(uv.x * aspect, uv.y);
+
+        vec4 prev = texture2D(previousFrame, vUV);
+        float trail1 = prev.r * trailDecay;
+        float trail2 = prev.g * trailDecay;
+
+        vec2 origin = vec2(0.5 * aspect, 0.3);
+        float displayScale = 0.15;
+
+        vec2 p1 = origin + vec2(sin(theta1), cos(theta1)) * l1 * displayScale;
+        vec2 p2 = p1 + vec2(sin(theta2), cos(theta2)) * l2 * displayScale;
+
+        float dMass1 = length(uvCorrected - p1);
+        float dMass2 = length(uvCorrected - p2);
+
+        if (dMass1 < 0.02) {
+            trail1 = 1.0;
+        }
+        if (dMass2 < 0.02) {
+            trail2 = 1.0;
+        }
+
+        gl_FragColor = vec4(trail1, trail2, 0.0, 1.0);
+    }
+`;
+
+/**
+ * Display shader: reads trail data from feedback texture and renders final colors.
+ */
+export const PENDULUM_DISPLAY_FRAGMENT_GLSL = `
+    precision highp float;
+
+    uniform vec2 resolution;
+    uniform float theta1;
+    uniform float theta2;
+    uniform float l1;
+    uniform float l2;
+    uniform sampler2D trailTexture;
+
+    varying vec2 vUV;
+
+    float sdSegment(vec2 p, vec2 a, vec2 b) {
+        vec2 pa = p - a;
+        vec2 ba = b - a;
+        float h = clamp(dot(pa, ba) / dot(ba, ba), 0.0, 1.0);
+        return length(pa - ba * h);
+    }
+
+    void main() {
+        // Flip Y to match WGSL screen-space (Y=0 at top)
+        vec2 uv = vec2(vUV.x, 1.0 - vUV.y);
+        float aspect = resolution.x / resolution.y;
+        vec2 uvCorrected = vec2(uv.x * aspect, uv.y);
+
+        vec4 trailData = texture2D(trailTexture, vUV);
+        float trail1 = trailData.r;
+        float trail2 = trailData.g;
+
+        vec2 origin = vec2(0.5 * aspect, 0.3);
+        float displayScale = 0.15;
+
+        vec2 p1 = origin + vec2(sin(theta1), cos(theta1)) * l1 * displayScale;
+        vec2 p2 = p1 + vec2(sin(theta2), cos(theta2)) * l2 * displayScale;
+
+        float dLine1 = sdSegment(uvCorrected, origin, p1);
+        float dLine2 = sdSegment(uvCorrected, p1, p2);
+        float dMass1 = length(uvCorrected - p1);
+        float dMass2 = length(uvCorrected - p2);
+
+        vec3 bgColor = vec3(0.1, 0.1, 0.15);
+        vec3 mass1Color = vec3(1.0, 0.0, 0.0);
+        vec3 mass2Color = vec3(0.0, 1.0, 0.0);
+        vec3 line1Color = vec3(1.0, 1.0, 0.0);
+        vec3 line2Color = vec3(1.0, 0.0, 1.0);
+
+        vec3 finalColor = bgColor;
+        finalColor = mix(finalColor, mass1Color, clamp(trail1, 0.0, 1.0));
+        finalColor = mix(finalColor, mass2Color, clamp(trail2, 0.0, 1.0));
+
+        if (dMass1 >= 0.02 && dMass2 >= 0.02) {
+            if (dLine1 < 0.003) {
+                finalColor = line1Color;
+            } else if (dLine2 < 0.003) {
+                finalColor = line2Color;
+            }
+        }
+
+        gl_FragColor = vec4(finalColor, 1.0);
+    }
+`;

src/app/pages/algorithms/pendulum/pendulum.component.ts

@@ -1,8 +1,7 @@
 import {Component} from '@angular/core';
 import {BabylonCanvas, RenderConfig, SceneEventData} from '../../../shared/components/render-canvas/babylon-canvas.component';
 import {MatCard, MatCardContent, MatCardHeader, MatCardTitle} from '@angular/material/card';
-import {ComputeShader, ShaderLanguage, StorageBuffer} from '@babylonjs/core';
+
-import {PENDULUM_FRAGMENT_SHADER_WGSL, PENDULUM_PHYSIC_COMPUTE_SHADER_WGSL, PENDULUM_RENDER_COMPUTE_SHADER_WGSL, PENDULUM_VERTEX_SHADER_WGSL} from './pendulum.shader';
 import {FormsModule} from '@angular/forms';
 import {NgxSliderModule, Options} from '@angular-slider/ngx-slider';
 import {DEFAULT_DAMPING, DEFAULT_G, DEFAULT_L1_LENGTH, DEFAULT_M1_MASS, DEFAULT_L2_LENGTH, DEFAULT_M2_MASS, DEFAULT_TRAIL_DECAY, MAX_DAMPING, MAX_G, MAX_LENGTH, MAX_MASS, MAX_TRAIL_DECAY, MIN_DAMPING, MIN_G, MIN_LENGTH, MIN_MASS, MIN_TRAIL_DECAY, IMPULSE_M2, IMPULSE_M1} from './pendulum.model';
@@ -11,6 +10,9 @@ import {MatButton} from '@angular/material/button';
 import {Information} from '../information/information';
 import {AlgorithmInformation} from '../information/information.models';
 import {UrlConstants} from '../../../constants/UrlConstants';
+import {PendulumSimulationStrategy} from './strategies/pendulum-simulation.strategy';
+import {PendulumGpuStrategy} from './strategies/pendulum-gpu.strategy';
+import {PendulumCpuStrategy} from './strategies/pendulum-cpu.strategy';
 
 @Component({
   selector: 'app-pendulum',
@@ -31,7 +33,6 @@ import {UrlConstants} from '../../../constants/UrlConstants';
 })
 class PendulumComponent {
 
-  // --- CONFIGURATION ---
   algoInformation: AlgorithmInformation = {
     title: 'PENDULUM.EXPLANATION.TITLE',
     entries: [
@@ -46,15 +47,9 @@ class PendulumComponent {
     disclaimerListEntry: ['PENDULUM.EXPLANATION.DISCLAIMER_1', 'PENDULUM.EXPLANATION.DISCLAIMER_2', 'PENDULUM.EXPLANATION.DISCLAIMER_3', 'PENDULUM.EXPLANATION.DISCLAIMER_4']
   };
 
-
   renderConfig: RenderConfig = {
     mode: '2D',
-    initialViewSize: 2,
+    initialViewSize: 2
-    shaderLanguage: ShaderLanguage.WGSL,
-    vertexShader: PENDULUM_VERTEX_SHADER_WGSL,
-    fragmentShader: PENDULUM_FRAGMENT_SHADER_WGSL,
-    uniformNames: [],
-    uniformBufferNames: []
   };
 
   trailDecayOptions: Options = {
@@ -107,7 +102,6 @@ class PendulumComponent {
     hidePointerLabels: false
   };
 
-  // Central management of physics parameters
   readonly simParams = {
     time: 0,
     dt: 0.015,
@@ -123,6 +117,7 @@ class PendulumComponent {
   };
 
   private currentSceneData: SceneEventData | null = null;
+  private strategy: PendulumSimulationStrategy | null = null;
 
   onSceneReady(event: SceneEventData) {
     this.currentSceneData = event;
@@ -130,83 +125,34 @@ class PendulumComponent {
   }
 
   private createSimulation() {
-    if (!this.currentSceneData){
+    if (!this.currentSceneData) {
       return;
     }
-    const {engine, scene} = this.currentSceneData;
-    engine.resize();
 
-    const width = engine.getRenderWidth();
+    const {engine, scene, gpuTier} = this.currentSceneData;
-    const height = engine.getRenderHeight();
-    const totalPixels = width * height;
 
-    // --- 1. BUFFERS ---
+    if (this.strategy) {
-    const pixelBuffer = new StorageBuffer(engine, totalPixels * 4);
+      this.strategy.dispose();
-
-    const stateBuffer = new StorageBuffer(engine, 4 * 4);
-    stateBuffer.update(new Float32Array([Math.PI / 4, Math.PI / 2, 0, 0])); // Initial angles
-
-    const paramsBuffer = new StorageBuffer(engine, 14 * 4);
-    const paramsData = new Float32Array(14);
-
-    // --- 2. SHADERS ---
-    const csPhysics = new ComputeShader("physics", engine,
-      {computeSource: PENDULUM_PHYSIC_COMPUTE_SHADER_WGSL},
-      {bindingsMapping: {"state": {group: 0, binding: 0}, "p": {group: 0, binding: 1}}}
-    );
-    csPhysics.setStorageBuffer("state", stateBuffer);
-    csPhysics.setStorageBuffer("p", paramsBuffer);
-
-    const csRender = new ComputeShader("render", engine,
-      {computeSource: PENDULUM_RENDER_COMPUTE_SHADER_WGSL},
-      {bindingsMapping: {"pixelBuffer": {group: 0, binding: 0}, "p": {group: 0, binding: 1}, "state": {group: 0, binding: 2}}}
-    );
-    csRender.setStorageBuffer("pixelBuffer", pixelBuffer);
-    csRender.setStorageBuffer("p", paramsBuffer);
-    csRender.setStorageBuffer("state", stateBuffer);
-
-    // --- 3. MATERIAL ---
-    const plane = scene.getMeshByName("plane");
-    if (plane?.material) {
-      const mat = plane.material as any;
-      mat.setStorageBuffer("pixelBuffer", pixelBuffer);
-      mat.setStorageBuffer("p", paramsBuffer);
     }
 
-    //remove old observables if available
+    this.strategy = gpuTier === 'webgpu'
-    scene.onBeforeRenderObservable.clear();
+      ? new PendulumGpuStrategy()
-    // --- 4. RENDER LOOP ---
+      : new PendulumCpuStrategy();
-    scene.onBeforeRenderObservable.add(() => {
+
+    this.strategy.init(scene, engine);
+    this.startParamUpdateLoop(scene);
+  }
+
+  private startParamUpdateLoop(scene: any): void {
+    scene.onAfterRenderObservable.clear();
+    scene.onAfterRenderObservable.add(() => {
       this.simParams.time += this.simParams.dt;
 
-      const currentWidth = engine.getRenderWidth();
+      if (this.strategy) {
-      const currentHeight = engine.getRenderHeight();
+        this.strategy.updateParams({...this.simParams});
-
+      }
-      // Fill parameter array (must match the exact order of the WGSL struct!)
-      paramsData[0] = currentWidth;
-      paramsData[1] = currentHeight;
-      paramsData[2] = this.simParams.time;
-      paramsData[3] = this.simParams.dt;
-      paramsData[4] = this.simParams.g;
-      paramsData[5] = this.simParams.m1;
-      paramsData[6] = this.simParams.m2;
-      paramsData[7] = this.simParams.l1;
-      paramsData[8] = this.simParams.l2;
-      paramsData[9] = this.simParams.damping;
-      paramsData[10] = this.simParams.trailDecay;
-      paramsData[11] = this.simParams.impulseM1;
-      paramsData[12] = this.simParams.impulseM2;
-      paramsData[13] = 0; // Pad
 
       this.resetImpulses();
-
-      paramsBuffer.update(paramsData);
-
-      // Trigger simulation and rendering
-      csPhysics.dispatch(1, 1, 1);
-
-      const dispatchCount = Math.ceil((currentWidth * currentHeight) / 64);
-      csRender.dispatch(dispatchCount, 1, 1);
     });
   }
 
@@ -221,8 +167,7 @@ class PendulumComponent {
   }
 
   pushPendulum(m1: boolean) {
-    if (m1)
+    if (m1) {
-    {
       this.simParams.impulseM1 = IMPULSE_M1;
       return;
     }
@@ -235,6 +180,4 @@ class PendulumComponent {
   }
 }
 
-
+export default PendulumComponent;
-
-export default PendulumComponent

src/app/pages/algorithms/pendulum/strategies/pendulum-cpu-physics.ts

@@ -0,0 +1,50 @@
+/**
+ * CPU-side double pendulum physics mirroring PENDULUM_PHYSIC_COMPUTE_SHADER_WGSL.
+ * Equations from: https://en.wikipedia.org/wiki/Double_pendulum
+ */
+
+export interface PendulumState {
+  theta1: number;
+  theta2: number;
+  v1: number;
+  v2: number;
+}
+
+export interface PendulumPhysicsParams {
+  dt: number;
+  g: number;
+  m1: number;
+  m2: number;
+  l1: number;
+  l2: number;
+  damping: number;
+  impulseM1: number;
+  impulseM2: number;
+}
+
+export function stepPendulumPhysics(state: PendulumState, params: PendulumPhysicsParams): void {
+  const t1 = state.theta1;
+  const t2 = state.theta2;
+  const v1 = state.v1;
+  const v2 = state.v2;
+
+  const deltaT = t1 - t2;
+
+  const num1 = -params.g * (2.0 * params.m1 + params.m2) * Math.sin(t1)
+    - params.m2 * params.g * Math.sin(t1 - 2.0 * t2)
+    - 2.0 * Math.sin(deltaT) * params.m2 * (v2 * v2 * params.l2 + v1 * v1 * params.l1 * Math.cos(deltaT));
+  const den1 = params.l1 * (2.0 * params.m1 + params.m2 - params.m2 * Math.cos(2.0 * deltaT));
+  const a1 = num1 / den1;
+
+  const num2 = 2.0 * Math.sin(deltaT) * (v1 * v1 * params.l1 * (params.m1 + params.m2) + params.g * (params.m1 + params.m2) * Math.cos(t1) + v2 * v2 * params.l2 * params.m2 * Math.cos(deltaT));
+  const den2 = params.l2 * (2.0 * params.m1 + params.m2 - params.m2 * Math.cos(2.0 * deltaT));
+  const a2 = num2 / den2;
+
+  const newV1 = (v1 + a1 * params.dt) * params.damping + params.impulseM1;
+  const newV2 = (v2 + a2 * params.dt) * params.damping + params.impulseM2;
+
+  state.v1 = newV1;
+  state.v2 = newV2;
+  state.theta1 = t1 + newV1 * params.dt;
+  state.theta2 = t2 + newV2 * params.dt;
+}

src/app/pages/algorithms/pendulum/strategies/pendulum-cpu.strategy.ts

@@ -0,0 +1,134 @@
+import {Constants, Engine, MeshBuilder, RenderTargetTexture, Scene, ShaderMaterial, Texture, Vector2, WebGPUEngine} from '@babylonjs/core';
+import {PENDULUM_DISPLAY_FRAGMENT_GLSL, PENDULUM_FEEDBACK_FRAGMENT_GLSL, PENDULUM_VERTEX_SHADER_GLSL} from '../pendulum-glsl.shader';
+import {PendulumState, stepPendulumPhysics} from './pendulum-cpu-physics';
+import {PendulumSimParams, PendulumSimulationStrategy} from './pendulum-simulation.strategy';
+
+export class PendulumCpuStrategy implements PendulumSimulationStrategy {
+  private scene: Scene | null = null;
+  private state: PendulumState = {theta1: Math.PI / 4, theta2: Math.PI / 2, v1: 0, v2: 0};
+  private params: PendulumSimParams | null = null;
+  private feedbackMaterial: ShaderMaterial | null = null;
+  private displayMaterial: ShaderMaterial | null = null;
+  private rttA: RenderTargetTexture | null = null;
+  private rttB: RenderTargetTexture | null = null;
+  private pingPong = false;
+
+  init(scene: Scene, engine: WebGPUEngine | Engine): void {
+    this.scene = scene;
+
+    const existingPlane = scene.getMeshByName("plane");
+    if (existingPlane) {
+      scene.removeMesh(existingPlane);
+    }
+
+    const width = engine.getRenderWidth();
+    const height = engine.getRenderHeight();
+
+    this.rttA = new RenderTargetTexture("rttA", {width, height}, scene, false, true, Constants.TEXTURETYPE_FLOAT);
+    this.rttB = new RenderTargetTexture("rttB", {width, height}, scene, false, true, Constants.TEXTURETYPE_FLOAT);
+
+    this.rttA.wrapU = Texture.CLAMP_ADDRESSMODE;
+    this.rttA.wrapV = Texture.CLAMP_ADDRESSMODE;
+    this.rttB.wrapU = Texture.CLAMP_ADDRESSMODE;
+    this.rttB.wrapV = Texture.CLAMP_ADDRESSMODE;
+
+    // Size 2 maps positions to -1..1 which fills clip space (vertex shader bypasses camera)
+    const feedbackPlane = MeshBuilder.CreatePlane("feedbackPlane", {size: 2}, scene);
+    feedbackPlane.alwaysSelectAsActiveMesh = true;
+    // Use layer mask to exclude from main scene rendering (only rendered via RTT)
+    feedbackPlane.layerMask = 0x10000000;
+
+    this.feedbackMaterial = new ShaderMaterial("feedbackMat", scene, {
+      vertexSource: PENDULUM_VERTEX_SHADER_GLSL,
+      fragmentSource: PENDULUM_FEEDBACK_FRAGMENT_GLSL
+    }, {
+      attributes: ["position", "uv"],
+      uniforms: ["resolution", "theta1", "theta2", "l1", "l2", "trailDecay"],
+      samplers: ["previousFrame"]
+    });
+    this.feedbackMaterial.backFaceCulling = false;
+    feedbackPlane.material = this.feedbackMaterial;
+
+    this.rttA.renderList!.push(feedbackPlane);
+    this.rttB.renderList!.push(feedbackPlane);
+
+    // Size 2 maps positions to -1..1 which fills clip space (vertex shader bypasses camera)
+    const displayPlane = MeshBuilder.CreatePlane("displayPlane", {size: 2}, scene);
+    displayPlane.alwaysSelectAsActiveMesh = true;
+
+    this.displayMaterial = new ShaderMaterial("displayMat", scene, {
+      vertexSource: PENDULUM_VERTEX_SHADER_GLSL,
+      fragmentSource: PENDULUM_DISPLAY_FRAGMENT_GLSL
+    }, {
+      attributes: ["position", "uv"],
+      uniforms: ["resolution", "theta1", "theta2", "l1", "l2"],
+      samplers: ["trailTexture"]
+    });
+    this.displayMaterial.backFaceCulling = false;
+    this.displayMaterial.disableDepthWrite = true;
+    displayPlane.material = this.displayMaterial;
+
+    // RTTs are rendered manually via writeTarget.render() -- do NOT add to customRenderTargets
+    this.startRenderLoop(scene, engine, width, height);
+  }
+
+  updateParams(params: PendulumSimParams): void {
+    this.params = params;
+  }
+
+  dispose(): void {
+    if (this.scene) {
+      this.scene.onBeforeRenderObservable.clear();
+    }
+    this.rttA?.dispose();
+    this.rttB?.dispose();
+    this.feedbackMaterial?.dispose();
+    this.displayMaterial?.dispose();
+    this.scene = null;
+  }
+
+  private startRenderLoop(scene: Scene, engine: WebGPUEngine | Engine, width: number, height: number): void {
+    const resolution = new Vector2(width, height);
+
+    scene.onBeforeRenderObservable.clear();
+    scene.onBeforeRenderObservable.add(() => {
+      if (!this.params || !this.feedbackMaterial || !this.displayMaterial || !this.rttA || !this.rttB) {
+        return;
+      }
+
+      stepPendulumPhysics(this.state, {
+        dt: this.params.dt,
+        g: this.params.g,
+        m1: this.params.m1,
+        m2: this.params.m2,
+        l1: this.params.l1,
+        l2: this.params.l2,
+        damping: this.params.damping,
+        impulseM1: this.params.impulseM1,
+        impulseM2: this.params.impulseM2
+      });
+
+      const readTarget = this.pingPong ? this.rttA : this.rttB;
+      const writeTarget = this.pingPong ? this.rttB : this.rttA;
+
+      this.feedbackMaterial.setTexture("previousFrame", readTarget);
+      this.feedbackMaterial.setVector2("resolution", resolution);
+      this.feedbackMaterial.setFloat("theta1", this.state.theta1);
+      this.feedbackMaterial.setFloat("theta2", this.state.theta2);
+      this.feedbackMaterial.setFloat("l1", this.params.l1);
+      this.feedbackMaterial.setFloat("l2", this.params.l2);
+      this.feedbackMaterial.setFloat("trailDecay", this.params.trailDecay);
+
+      writeTarget.render();
+
+      this.displayMaterial.setTexture("trailTexture", writeTarget);
+      this.displayMaterial.setVector2("resolution", resolution);
+      this.displayMaterial.setFloat("theta1", this.state.theta1);
+      this.displayMaterial.setFloat("theta2", this.state.theta2);
+      this.displayMaterial.setFloat("l1", this.params.l1);
+      this.displayMaterial.setFloat("l2", this.params.l2);
+
+      this.pingPong = !this.pingPong;
+    });
+  }
+}

src/app/pages/algorithms/pendulum/strategies/pendulum-gpu.strategy.ts

@@ -0,0 +1,112 @@
+import {Camera, ComputeShader, Engine, MeshBuilder, Scene, ShaderLanguage, ShaderMaterial, StorageBuffer, WebGPUEngine} from '@babylonjs/core';
+import {PENDULUM_FRAGMENT_SHADER_WGSL, PENDULUM_PHYSIC_COMPUTE_SHADER_WGSL, PENDULUM_RENDER_COMPUTE_SHADER_WGSL, PENDULUM_VERTEX_SHADER_WGSL} from '../pendulum.shader';
+import {PendulumSimParams, PendulumSimulationStrategy} from './pendulum-simulation.strategy';
+
+export class PendulumGpuStrategy implements PendulumSimulationStrategy {
+  private scene: Scene | null = null;
+  private paramsData = new Float32Array(14);
+  private paramsBuffer: StorageBuffer | null = null;
+
+  init(scene: Scene, engine: WebGPUEngine | Engine): void {
+    this.scene = scene;
+    const gpuEngine = engine as WebGPUEngine;
+    gpuEngine.resize();
+
+    const width = gpuEngine.getRenderWidth();
+    const height = gpuEngine.getRenderHeight();
+    const totalPixels = width * height;
+
+    const pixelBuffer = new StorageBuffer(gpuEngine, totalPixels * 4);
+
+    const stateBuffer = new StorageBuffer(gpuEngine, 4 * 4);
+    stateBuffer.update(new Float32Array([Math.PI / 4, Math.PI / 2, 0, 0]));
+
+    this.paramsBuffer = new StorageBuffer(gpuEngine, 14 * 4);
+
+    const csPhysics = new ComputeShader("physics", gpuEngine,
+      {computeSource: PENDULUM_PHYSIC_COMPUTE_SHADER_WGSL},
+      {bindingsMapping: {"state": {group: 0, binding: 0}, "p": {group: 0, binding: 1}}}
+    );
+    csPhysics.setStorageBuffer("state", stateBuffer);
+    csPhysics.setStorageBuffer("p", this.paramsBuffer);
+
+    const csRender = new ComputeShader("render", gpuEngine,
+      {computeSource: PENDULUM_RENDER_COMPUTE_SHADER_WGSL},
+      {bindingsMapping: {"pixelBuffer": {group: 0, binding: 0}, "p": {group: 0, binding: 1}, "state": {group: 0, binding: 2}}}
+    );
+    csRender.setStorageBuffer("pixelBuffer", pixelBuffer);
+    csRender.setStorageBuffer("p", this.paramsBuffer);
+    csRender.setStorageBuffer("state", stateBuffer);
+
+    // Create WGSL display plane and material
+    const displayMaterial = new ShaderMaterial("pendulumWgslMat", scene, {
+      vertexSource: PENDULUM_VERTEX_SHADER_WGSL,
+      fragmentSource: PENDULUM_FRAGMENT_SHADER_WGSL
+    }, {
+      attributes: ["position"],
+      uniforms: [],
+      storageBuffers: ["pixelBuffer", "p"],
+      shaderLanguage: ShaderLanguage.WGSL
+    });
+    displayMaterial.setStorageBuffer("pixelBuffer", pixelBuffer);
+    displayMaterial.setStorageBuffer("p", this.paramsBuffer);
+    displayMaterial.backFaceCulling = false;
+    displayMaterial.disableDepthWrite = true;
+
+    const plane = MeshBuilder.CreatePlane("pendulumPlane", {size: 100}, scene);
+    const camera = scene.activeCamera as Camera;
+    if (camera) {
+      plane.lookAt(camera.position);
+    }
+    plane.alwaysSelectAsActiveMesh = true;
+    plane.material = displayMaterial;
+
+    scene.onBeforeRenderObservable.clear();
+    scene.onBeforeRenderObservable.add(() => {
+      if (!this.paramsBuffer) {
+        return;
+      }
+
+      const currentWidth = gpuEngine.getRenderWidth();
+      const currentHeight = gpuEngine.getRenderHeight();
+      this.paramsData[0] = currentWidth;
+      this.paramsData[1] = currentHeight;
+
+      this.paramsBuffer.update(this.paramsData);
+
+      csPhysics.dispatch(1, 1, 1);
+
+      const dispatchCount = Math.ceil((currentWidth * currentHeight) / 64);
+      csRender.dispatch(dispatchCount, 1, 1);
+    });
+  }
+
+  updateParams(params: PendulumSimParams): void {
+    // paramsData[0] (width) and paramsData[1] (height) are set in the render loop
+    this.paramsData[2] = params.time;
+    this.paramsData[3] = params.dt;
+    this.paramsData[4] = params.g;
+    this.paramsData[5] = params.m1;
+    this.paramsData[6] = params.m2;
+    this.paramsData[7] = params.l1;
+    this.paramsData[8] = params.l2;
+    this.paramsData[9] = params.damping;
+    this.paramsData[10] = params.trailDecay;
+    this.paramsData[11] = params.impulseM1;
+    this.paramsData[12] = params.impulseM2;
+    this.paramsData[13] = 0;
+  }
+
+  dispose(): void {
+    if (this.scene) {
+      this.scene.onBeforeRenderObservable.clear();
+      const plane = this.scene.getMeshByName("pendulumPlane");
+      if (plane) {
+        this.scene.removeMesh(plane);
+        plane.dispose();
+      }
+    }
+    this.paramsBuffer = null;
+    this.scene = null;
+  }
+}

src/app/pages/algorithms/pendulum/strategies/pendulum-simulation.strategy.ts

@@ -0,0 +1,21 @@
+import {Engine, Scene, WebGPUEngine} from '@babylonjs/core';
+
+export interface PendulumSimParams {
+  time: number;
+  dt: number;
+  g: number;
+  m1: number;
+  m2: number;
+  l1: number;
+  l2: number;
+  damping: number;
+  trailDecay: number;
+  impulseM1: number;
+  impulseM2: number;
+}
+
+export interface PendulumSimulationStrategy {
+  init(scene: Scene, engine: WebGPUEngine | Engine): void;
+  updateParams(params: PendulumSimParams): void;
+  dispose(): void;
+}

src/app/service/gpu-capability.service.ts

@@ -0,0 +1,55 @@
+import {Injectable, signal} from '@angular/core';
+
+export type GpuTier = 'webgpu' | 'webgl' | 'none';
+
+@Injectable({providedIn: 'root'})
+export class GpuCapabilityService {
+  private cachedTier: GpuTier | null = null;
+  readonly tier = signal<GpuTier | null>(null);
+
+  async detect(): Promise<GpuTier> {
+    if (this.cachedTier) {
+      return this.cachedTier;
+    }
+
+    const result = await this.probe();
+    this.cachedTier = result;
+    this.tier.set(result);
+    return result;
+  }
+
+  private async probe(): Promise<GpuTier> {
+    if (await this.isWebGpuAvailable()) {
+      return 'webgpu';
+    }
+
+    if (this.isWebGlAvailable()) {
+      return 'webgl';
+    }
+
+    return 'none';
+  }
+
+  private async isWebGpuAvailable(): Promise<boolean> {
+    if (!navigator.gpu) {
+      return false;
+    }
+
+    try {
+      const adapter = await navigator.gpu.requestAdapter();
+      return adapter !== null;
+    } catch {
+      return false;
+    }
+  }
+
+  private isWebGlAvailable(): boolean {
+    try {
+      const canvas = document.createElement('canvas');
+      const context = canvas.getContext('webgl2');
+      return context !== null;
+    } catch {
+      return false;
+    }
+  }
+}

src/app/shared/components/render-canvas/babylon-canvas.component.ts

@@ -1,7 +1,8 @@
 import {AfterViewInit, Component, ElementRef, EventEmitter, inject, Input, NgZone, OnDestroy, Output, ViewChild} from '@angular/core';
 import {MatSnackBar} from '@angular/material/snack-bar';
 import {TranslateService} from '@ngx-translate/core';
-import {ArcRotateCamera, Camera, MeshBuilder, Scene, ShaderLanguage, ShaderMaterial, Vector2, Vector3, WebGPUEngine} from '@babylonjs/core';
+import {ArcRotateCamera, Camera, Engine, MeshBuilder, Scene, ShaderLanguage, ShaderMaterial, Vector2, Vector3, WebGPUEngine} from '@babylonjs/core';
+import {GpuCapabilityService, GpuTier} from '../../../service/gpu-capability.service';
 
 export interface RenderConfig {
   mode: '2D' | '3D';
@@ -17,7 +18,8 @@ export type RenderCallback = (material: ShaderMaterial, camera: Camera, canvas:
 
 export interface SceneEventData {
   scene: Scene;
-  engine: WebGPUEngine;
+  engine: WebGPUEngine | Engine;
+  gpuTier: GpuTier;
 }
 
 @Component({
@@ -30,6 +32,7 @@ export class BabylonCanvas implements AfterViewInit, OnDestroy {
   readonly ngZone = inject(NgZone);
   private readonly snackBar = inject(MatSnackBar);
   private readonly translate = inject(TranslateService);
+  private readonly gpuCapability = inject(GpuCapabilityService);
 
   @ViewChild('renderCanvas', { static: true }) canvasRef!: ElementRef<HTMLCanvasElement>;
 
@@ -38,11 +41,13 @@ export class BabylonCanvas implements AfterViewInit, OnDestroy {
 
   @Output() sceneReady = new EventEmitter<SceneEventData>();
   @Output() sceneResized = new EventEmitter<SceneEventData>();
+  @Output() engineUnavailable = new EventEmitter<{ reason: string }>();
 
-  private engine!: WebGPUEngine;
+  private engine!: WebGPUEngine | Engine;
   private scene!: Scene;
   private shaderMaterial!: ShaderMaterial;
   private camera!: Camera;
+  private gpuTier: GpuTier = 'none';
 
   //Listener
   private readonly resizeHandler = () => this.handleResize();
@@ -63,9 +68,44 @@ export class BabylonCanvas implements AfterViewInit, OnDestroy {
 
   private async initBabylon(): Promise<void> {
     const canvas = this.canvasRef.nativeElement;
+    const tier = await this.gpuCapability.detect();
+    this.gpuTier = tier;
+
+    if (tier === 'webgpu') {
+      await this.initWebGpuEngine(canvas);
+      return;
+    }
+
+    if (tier === 'webgl') {
+      this.showSnackBar('GPU.WEBGL_FALLBACK');
+      this.initWebGlEngine(canvas);
+      return;
+    }
+
+    this.showSnackBar('GPU.NOT_SUPPORTED');
+    this.engineUnavailable.emit({reason: 'no_gpu'});
+  }
+
+  private async initWebGpuEngine(canvas: HTMLCanvasElement): Promise<void> {
     const tmpEngine = new WebGPUEngine(canvas);
-    await tmpEngine.initAsync().then(() => {
+
+    try {
+      await tmpEngine.initAsync();
       this.engine = tmpEngine;
+      this.setupScene(canvas);
+    } catch {
+      this.showSnackBar('GPU.WEBGL_FALLBACK');
+      this.gpuTier = 'webgl';
+      this.initWebGlEngine(canvas);
+    }
+  }
+
+  private initWebGlEngine(canvas: HTMLCanvasElement): void {
+    this.engine = new Engine(canvas, true);
+    this.setupScene(canvas);
+  }
+
+  private setupScene(canvas: HTMLCanvasElement): void {
     this.scene = new Scene(this.engine);
     this.setupCamera(canvas);
     this.addListener(canvas);
@@ -73,16 +113,15 @@ export class BabylonCanvas implements AfterViewInit, OnDestroy {
     this.createFullScreenRect();
     this.sceneReady.emit({
       scene: this.scene,
-        engine: this.engine
+      engine: this.engine,
+      gpuTier: this.gpuTier
     });
     this.addRenderLoop(canvas);
+  }
 
-    })
+  private showSnackBar(translationKey: string): void {
-      .catch(() => {
+    const message = this.translate.instant(translationKey);
-        const message = this.translate.instant('WEBGPU.NOT_SUPPORTED');
+    this.snackBar.open(message, 'OK', {duration: 8000, horizontalPosition: 'center', verticalPosition: 'top'});
-        this.snackBar.open(message, 'OK', { duration: 8000, horizontalPosition: "center", verticalPosition: "top" });
-        this.engine = null!;
-      });
   }
 
   private addListener(canvas: HTMLCanvasElement) {
@@ -198,7 +237,8 @@ export class BabylonCanvas implements AfterViewInit, OnDestroy {
 
     this.sceneResized?.emit({
       scene: this.scene,
-      engine: this.engine
+      engine: this.engine,
+      gpuTier: this.gpuTier
     });
   }
 }

src/assets/i18n/de.json

@@ -513,8 +513,9 @@
       "DISCLAIMER_4": "Der XPBD-Kompromiss: XPBD umgeht dieses komplexe Matrix-Problem völlig, indem es als lokaler Löser arbeitet. Es kombiniert die unbedingte Stabilität eines impliziten Lösers mit der enormen Geschwindigkeit, Parallelisierbarkeit und dynamischen Anpassungsfähigkeit eines expliziten Systems."
     }
   },
-  "WEBGPU": {
+  "GPU": {
-    "NOT_SUPPORTED": "WebGPU konnte nicht gestartet werden. Bitte prüfe, ob dein Browser WebGPU unterstützt."
+    "WEBGL_FALLBACK": "WebGPU ist nicht verfügbar. WebGL wird als Fallback verwendet. Die Leistung kann eingeschränkt sein.",
+    "NOT_SUPPORTED": "Weder WebGPU noch WebGL konnten initialisiert werden. GPU-Visualisierungen sind nicht verfügbar."
   },
   "ALGORITHM": {
     "TITLE": "Algorithmen",

src/assets/i18n/en.json

@@ -512,8 +512,9 @@
       "DISCLAIMER_4": "The XPBD Compromise: XPBD completely bypasses this complex matrix problem by acting as a local solver. It combines the absolute stability of an implicit solver with the enormous speed, parallelizability, and dynamic adaptability of an explicit system."
     }
   },
-  "WEBGPU": {
+  "GPU": {
-    "NOT_SUPPORTED": "WebGPU could not be started. Please check if your browser supports WebGPU."
+    "WEBGL_FALLBACK": "WebGPU is not available. Using WebGL as fallback. Performance may be reduced.",
+    "NOT_SUPPORTED": "Neither WebGPU nor WebGL could be initialized. GPU visualizations are unavailable."
   },
   "ALGORITHM": {
     "TITLE": "Algorithms",